A Hybrid Intelligent Anti-disturbance Control Approach for Unmanned Surface Ship Autopilot

In order to address the complexity of marine ship autopilot system due to its non-linear nature under environment disturbance and the difficulty to describe precisely the ship behaviour in the seaway theoretically, an unmanned surface ship autopilot hybrid intelligent anti-disturbance control approach is proposed in this paper. The ship dynamic under environmental disturbance output feedback control strategy is adopted in real-time. A hybrid intelligent controller combine human intelligence and artificial intelligence is established with fuzzy infer algorithm and neural network algorithm. The controller has the ability of online self-learning. Finally the approach on a simulated unmanned surface ship autopilot in real time with a human knowledge of the ship behaviour under wind and current disturbances is verified.